Cart robot, and program

Abstract

To improve luggage delivery accuracy.SOLUTION: A cart robot according to an embodiment includes: an arm which delivers luggage; a travel vehicle body to which the arm is attached and on which the luggage may be placed; a first camera which is attached to the tip side of the arm and captures images of the tip side of the arm; a second camera which is attached to the travel vehicle body and captures images of at least an area above the travel vehicle body; and a control unit which controls the arm and the travel vehicle body based on the images captured by the first camera and the images captured by the second camera.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The disclosed embodiments relate to a cart robot and a program.

Background Art

[0002] Conventionally, there is known a cart robot that autonomously travels based on a predetermined cargo consolidation plan and takes out a load from a shelf with an arm (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] A cart robot is provided with sensors for detecting obstacles and the like during its movement. However, there is room for improvement in the accuracy of load transfer by the arm in the conventional technology.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a cart robot and a program that improve the accuracy of load transfer.

Means for Solving the Problems

[0006] A cart robot according to an aspect of an embodiment includes an arm for performing load transfer, a traveling vehicle body to which the arm is attached and on which a load can be placed, a first camera attached to the tip side of the arm for photographing the tip side of the arm, a second camera attached to the traveling vehicle body for photographing at least above the traveling vehicle body, and a control device for controlling the arm and the traveling vehicle body based on an image photographed by the first camera and an image photographed by the second camera.

Effects of the Invention

[0007] According to one embodiment, the accuracy of package delivery can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a floor plan of a warehouse to which the picking system according to this embodiment is applied. [Figure 2] Figure 2 is a perspective view of the cart robot according to the embodiment. [Figure 3] Figure 3 is a block diagram of the control system of the information processing apparatus according to the embodiment. [Figure 4] Figure 4 is a flowchart illustrating the operation process of the cart robot according to the embodiment. [Figure 5] Figure 5 is a schematic diagram showing an example of a computer hardware configuration that functions as an information processing device. [Modes for carrying out the invention]

[0009] The present invention will be described below through embodiments, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0010] Figure 1 is a plan view of the warehouse floor 50 to which the picking system according to this embodiment is applied.

[0011] Picking is the job of collecting (picking up) necessary items (packages). Picking staff play an essential role in shipping items from the warehouse and are therefore deployed in warehouses of all types. In this embodiment, the picking staff is a robot with an arm. In this embodiment, the picking staff is a cart robot 52. The picking staff also includes humanoid robots.

[0012] For example, the main job of a picking staff member is to collect specified items based on pre-assigned lists or order forms, and then pass them on to the inspection and packing staff. The larger the warehouse, the greater the variety and number of items stored, and therefore, a large number of picking staff members move around within the 50-floor warehouse.

[0013] As shown in Figure 1, floor 50 is equipped with a storage area (warehouse, shelves, etc.) 54 where multiple baskets 56 are stored. The baskets 56 are items (packages) collected through picking operations. A cart robot 52 moves around this storage area 54. The cart robot 52's main role is to receive and transfer the baskets 56, and it is classified into two types based on its movement path: Fast Track Cart 52A, which moves along the Fast Lane 58, and Local Track Cart 52B, which moves along the Local Picking Lane 60.

[0014] The cart robot 52 handles the transfer of the basket 56. The transfer includes taking the basket 56 out of the storage unit 54.

[0015] Local lane 60 is an inner lane within floor 50, in other words, a lane set outside the storage unit 54. Local cart 52B moves in a zigzag pattern, approaching and moving away from the storage unit 54, and temporarily slows down or stops to pick up baskets 56 from the storage unit 54. Note that the movement of local cart 52B is not limited to zigzag movement.

[0016] The high-speed lane 58 is an outer lane within the floor 50, in other words, a lane set outside the local lane 60, and for example, it receives a basket 56 from a local cart 52B that travels nonstop at 20 km / h and moves along the local lane 60.

[0017] As a series of operations, for example, after the local cart 52B on the local lane 60 picks up the basket 56, it runs parallel to the high-speed cart 52A at a speed of 20 km / h in a relay baton-passing manner on the outer high-speed lane 58, and non-stop, and transfers the basket 56 to the high-speed cart 52A. Note that the transfer of the basket 56 between the local cart 52B and the high-speed cart 52A may be performed with each cart 52 stopped.

[0018] On the floor 50, corresponding to the storage unit 54, a Docking Station 68 (docking station 68) is installed. The docking station 68 is the junction point between the high-speed lane 58 and the local lane 60.

[0019] The docking station 68 has, for example, 20 arms and has the function of receiving the basket 56 from the high-speed lane 58.

[0020] At the docking station 68, the high-speed cart 52A temporarily decelerates, for example, to a speed of 2 km / h, and for example, transfers the basket 56 within 1 minute and then re-accelerates.

[0021] On the floor 50, warehouse sensors 70 including cameras and LiDAR are installed on the ceiling and walls.

[0022] These warehouse sensors 70 constantly measure the distance between high-speed carts 52A and local carts 52B, as well as their speed. The warehouse sensors 70 include at least one of the following: a high-performance camera, solid-state LiDAR (light detection and ranging), a multi-color laser coaxial displacement sensor, or various other sensors. The warehouse sensors 70 may also include a vibrometer, thermal camera, hardness tester, radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, high-performance camera, vision recognition, micro-sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, temperature, humidity, spot AI weather forecast, high-precision multi-channel GPS, low-altitude satellite information, and long-tail incident AI data. The warehouse sensors 70 may include multiple sensors.

[0023] In addition to the information described above, the warehouse sensor 70 may also detect images, distance, vibration, heat, odor, color, sound, ultrasound, ultraviolet light, or infrared light. Other information that the warehouse sensor 70 may detect includes the movement of the cart robot 52's center of gravity, the material of the floor on which the cart robot 52 is installed, the ambient temperature, ambient humidity, the vertical, horizontal, and diagonal tilt angles of the floor, and the amount of moisture. The warehouse sensor 70 performs these detections, for example, every nanosecond.

[0024] Each piece of measured information is used to control the cart robot 52. For example, each piece of measured information is used to synchronize the high-speed cart 52A and the local cart 52B with each other.

[0025] As shown in Figure 2, the cart robot 52 comprises a vehicle body 10, an arm 11, a sensor 12, a first camera 13, a second camera 14, and an information processing device 15 (see Figure 3). Figure 2 is a perspective view of the cart robot 52 according to this embodiment. The cart robot 52 described below is applicable to at least one of the high-speed cart 52A and the local cart 52B.

[0026] The vehicle body 10 is formed, for example, in the shape of a box with an opening at the top. The vehicle body 10 is capable of carrying a basket 56. The vehicle body 10 is provided with a plurality of drive wheels 10a. Each drive wheel 10a is provided with a motor. The rotational speed of each drive wheel 10a is adjusted by the motor. By adjusting the rotational speed of each drive wheel 10a, the vehicle body 10 can travel in the forward / backward, left / right, and diagonal directions. Furthermore, by adjusting the rotational speed of each drive wheel 10a, the vehicle body 10 can rotate 360 ​​degrees.

[0027] The arm 11 is attached to the vehicle body 10. The arm 11 is fixed to the vehicle body 10 by attaching its base end to the vehicle body 10. For example, the base end of the arm 11 is attached to the upper end of the vehicle body 10. One arm 11 is provided for the vehicle body 10. That is, the cart robot 52 has one arm 11. The arm 11 is attached to the rear side of the vehicle body 10. For example, the arm 11 is attached to the rear end of the vehicle body 10. The arm 11 is attached to the vehicle body 10 near the center in the left-right direction.

[0028] The height at which the arm 11 is attached is the shoulder height of a warehouse worker. The height at which the arm 11 is attached is the average shoulder height of a warehouse worker. For example, the height at which the arm 11 is attached is 150 cm from the floor. For example, in the cart robot 52, the height of the base end of the arm 11 attached to the vehicle body 10 is 150 cm from the floor.

[0029] The arm 11 has a plurality of rod sections 11a and a plurality of joint sections 11b. The joint sections 11b are provided, for example, between two rod sections 11a, allowing the two rod sections 11a to rotate relative to each other. Each joint section 11b has a motor. By rotating the rod sections 11a relative to each joint section 11b, the arm 11 can extend and retract and rotate 360 ​​degrees.

[0030] The tip of the arm 11 is provided with a gripping part 11c for gripping the basket 56. The gripping part 11c grips the basket 56, for example, by suction. The cart robot 52 may have multiple arms 11.

[0031] Sensor 12 is mounted on the vehicle body 10. Sensor 12 is located on the front side of the vehicle body 10. For example, sensor 12 is located at the front end of the vehicle body 10. Sensor 12 is located at the upper end of the vehicle body 10. Sensor 12 may be located so as to protrude above the vehicle body 10. Sensor 12 is mounted near the center of the vehicle body 10 in the left-right direction. For example, arm 11 and sensor 12 are located opposite each other on the vehicle body 10. The type of sensor 12 is the same as that of the warehouse sensor 70. Sensor 12 may include multiple sensors.

[0032] The first camera 13 is attached to the tip of the arm 11. The first camera 13 photographs the tip of the arm 11. The first camera 13 photographs at least the gripping position of the basket 56 by the arm 11. The first camera 13 photographs the area around the gripping portion 11c of the arm 11. The image captured by the first camera 13 is transmitted to the information processing device 15. The first camera 13 comprises an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) and a lens. In addition to the first camera 13, at least one of the sensors 12 described above may be attached to the tip of the arm 11.

[0033] The second camera 14 is mounted on the vehicle body 10. The second camera 14 is configured to capture images at least above the vehicle body 10. The second camera 14 captures images of the area at least above the vehicle body 10 from an overhead perspective. Specifically, the second camera 14 is configured to capture the range of motion of the arm 11. That is, the second camera 14 is configured to capture the range of motion of the arm 11 at least above the vehicle body 10. The range of motion of the arm 11 is a preset range, which is the range in which the arm 11 can transfer the basket 56. The second camera 14 may also capture images of the side of the vehicle body 10.

[0034] The second camera 14 includes, for example, an image sensor and a fisheye lens. Note that there may be multiple second cameras 14. That is, multiple second cameras 14 may capture images of the area above the moving vehicle body 10 from a bird's-eye view.

[0035] As shown in Figure 3, the information processing device 15 (control device) comprises an information acquisition unit 150, a control unit 152, and an information storage unit 154. Figure 3 is a control system block diagram of the information processing device 15 according to this embodiment.

[0036] The information acquisition unit 150 acquires information detected by the sensor 12, the first camera 13, and the second camera 14. The information acquisition unit 150 acquires images captured by the first camera 13. The information acquisition unit 150 acquires images captured by the second camera 14. The information acquisition unit 150 acquires information detected by the warehouse sensor 70.

[0037] The information acquisition unit 150 acquires signals transmitted from a control center or the like that instructs the operation of the cart robot 52.

[0038] The control unit 152 controls the operation of the arm 11 and the vehicle body 10 based on signals transmitted from the control center or the like and acquired by the information acquisition unit 150.

[0039] The control unit 152 controls the movement of the arm 11 using the information acquired by the information acquisition unit 150 and AI (Artificial Intelligence). The control unit 152 controls the motors of each joint 11b of the arm 11. The control unit 152 controls the movement of the arm 11 using images captured by the first camera 13 and images captured by the second camera 14. The control unit 152 controls the movement of the arm 11 using information detected by the sensor 12 and the warehouse sensor 70.

[0040] Furthermore, the control unit 152 controls the operation of the vehicle body 10 using the information acquired by the information acquisition unit 150 and AI. The control unit 152 controls the motors of each drive wheel 10a of the vehicle body 10. The control unit 152 controls the operation of the vehicle body 10 using images captured by the first camera 13 and images captured by the second camera 14. The control unit 152 controls the operation of the vehicle body 10 using information detected by the sensor 12 and the warehouse sensor 70.

[0041] The information storage unit 154 is implemented by a storage medium such as a semiconductor memory element, such as RAM (Random Access Memory) or flash memory. The information storage unit 154 stores various programs executed by the control unit 152. The information storage unit 154 also stores information acquired by the information acquisition unit 150.

[0042] Next, the operation process of the cart robot 52 according to this embodiment will be explained using the flowchart in Figure 4. Figure 4 is a flowchart illustrating the operation process of the cart robot 52 according to this embodiment.

[0043] The information processing device 15 acquires information detected by the sensor 12 (S100). The information processing device 15 acquires images captured by the first camera 13 (S101). The information processing device 15 acquires images captured by the second camera 14 (S102). Note that the order in which each piece of information (image) is acquired is not limited to the order described above. The acquisition of each piece of information (image) may be performed simultaneously.

[0044] The information processing device 15 controls the movement of the arm 11 and the movement of the vehicle body 10 based on the acquired information (images) (S103).

[0045] The information processing device 15 may also use the information detected by the warehouse sensor 70 to control the movement of the arm 11 and the movement of the vehicle body 10.

[0046] For example, when the local cart 52B retrieves a basket 56 from the storage unit 54, the information processing device 15 determines the position of the vehicle body 10 relative to the basket 56 being retrieved from the storage unit 54, and the position of the arm 11 relative to the basket 56 being retrieved from the storage unit 54, based on the information acquired by the sensor 12, the image captured by the first camera 13, and the image captured by the second camera 14.

[0047] The information processing device 15 then moves the vehicle body 10 to the determined position. As the vehicle body 10 moves, the information processing device 15 moves the arm 11 to the determined position. The information processing device 15 controls the operation of the vehicle body 10 and the operation of the arm 11 according to the arrangement of the storage unit 54, the position of the basket 56, and the presence or absence of other local carts 52B.

[0048] For example, when the local cart 52B hands over the basket 56 to the high-speed cart 52A, the information processing device 15 of the local cart 52B determines the position of the local cart 52B's body 10 relative to the high-speed cart 52A, and the position of the local cart 52B's arm 11, based on the information acquired by the sensor 12, the image taken by the first camera 13, and the image taken by the second camera 14. The information processing device 15 of the local cart 52B then controls the movement of the local cart 52B's body 10 and the movement of the local cart 52B's arm 11.

[0049] Furthermore, when the local cart 52B hands over the basket 56 to the high-speed cart 52A, the information processing device 15 of the high-speed cart 52A may similarly control the operation of the arm 11 of the high-speed cart 52A. The information processing device 15 of the high-speed cart 52A also controls the operation of the vehicle body 10 of the high-speed cart 52A.

[0050] The cart robot 52 comprises an arm 11, a vehicle body 10, a first camera 13, a second camera 14, and an information processing device 15. The arm 11 is used for transferring the basket 56. The vehicle body 10 is to which the arm 11 is attached and which can hold the basket 56. The first camera 13 is attached to the tip of the arm 11 and takes pictures of the tip of the arm 11. The second camera 14 is attached to the vehicle body 10 and takes pictures of at least the area above the vehicle body 10. The information processing device 15 controls the arm 11 and the vehicle body 10 based on the images taken by the first camera 13 and the images taken by the second camera 14.

[0051] As a result, when the cart robot 52 is transferring the basket 56, for example, when taking the basket 56 from the storage unit 54, it can perform a highly accurate transfer by controlling the movement of the arm 11 based on the image captured by the first camera 13. In other words, the cart robot 52 can improve the accuracy of the basket transfer.

[0052] Furthermore, when the cart robot 52 is handing over the basket 56, it can move the vehicle body 10 to the optimal position by controlling the position of the vehicle body 10 based on the image captured by the second camera 14. For example, when the cart robot 52 is taking out the basket 56 from the storage unit 54, it can view the area around the basket 56 to be taken out and the area around the arm 11 from below, and move the vehicle body 10 to the optimal position. As a result, the cart robot 52 can accurately grasp the basket 56 with the arm 11 and take out the basket 56 from the storage unit 54. In other words, the cart robot 52 can improve the accuracy of the basket 56 handover.

[0053] Furthermore, even when blind spots occur, the cart robot 52 can accurately control the arm 11 and the vehicle body 10 by controlling them based on images captured by the first camera 13 and images captured by the second camera 14.

[0054] The second camera 14 is configured to capture the range of motion of the arm 11.

[0055] This allows the cart robot 52 to perform the movements of the arm 11 with high precision.

[0056] Figure 5 is a schematic diagram showing an example of the hardware configuration of a computer 1200 that functions as an information processing device 15. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0057] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0058] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 and stores it in a frame buffer provided in RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0059] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0060] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0061] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0062] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0063] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0064] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0065] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0066] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0067] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0068] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0069] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0070] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0071] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0072] 10. Running vehicle 11 Arms 12 sensors 13. Camera 1 14. Second Camera 15. Information Processing Device (Control Device) 52 Cart Robots 52A High-Speed ​​Cart 52B Local Cart

Claims

1. A cart robot comprising one of the following: a local cart robot that retrieves cargo from a storage unit and travels along a local lane provided outside the storage unit, and a high-speed cart robot that travels along a high-speed lane provided outside the local lane and receives the cargo from the local cart robot, An arm for transferring luggage, A vehicle body to which the aforementioned arm is attached and which is capable of carrying the aforementioned load, A first camera is attached to the tip of the arm and photographs the tip of the arm, A second camera mounted on the vehicle body and capable of capturing images at least above the vehicle body, A control device that controls the arm and the vehicle body based on the image captured by the first camera and the image captured by the second camera. Equipped with, The control device is A cart robot that, when transferring cargo to another cart robot, determines the position of the vehicle body of one cart robot and the position of the arm of one cart robot relative to the other cart robot based on the image taken by the first camera and the image taken by the second camera.

2. The cart robot according to claim 1, wherein the second camera is configured to capture the range of motion of the arm.

3. The cart robot according to claim 1, wherein the second camera has a fisheye lens and captures images at least above the vehicle body through the fisheye lens.

4. A program for controlling one of the following cart robots: a local cart robot that retrieves cargo from a storage unit and travels along a local lane provided outside the storage unit, and a high-speed cart robot that travels along a high-speed lane provided outside the local lane and receives the cargo from the local cart robot, A procedure for photographing the tip of the arm using a first camera installed at the tip of the arm that handles the transfer of luggage, A procedure for taking photographs of at least the area above the vehicle body using a second camera mounted on the vehicle body to which the arm is attached, A procedure for controlling the arm and the vehicle body based on the image captured by the first camera and the image captured by the second camera. Have the computer run it, A program that, when a transfer of the cargo takes place between the other cart robot and the first cart robot, determines the position of the vehicle body of the first cart robot and the position of the arm of the first cart robot relative to the other cart robot, based on the image captured by the first camera and the image captured by the second camera.

Images